Remote control console for a machine

ABSTRACT

A remote control console or operator&#39;s station includes a proportional travel control joystick that effects continuous changes in machine travel speed through movement of the joystick away from a central-biased position, a sensor that measures progressively changing positions of the joystick, and an electronic controller communicatively coupled to the sensor and the joystick. The electronic controller is programmed to perform a closed loop control including mapping the progressively changing positions of the joystick to corresponding desired machine travel speeds, and adjusting the speeds of an engine used to propel the machine and the amounts of service braking used to slow the machine to achieve desired machine travel speeds.

TECHNICAL FIELD

The present disclosure relates generally to a machine remote controlconsole, and more particularly, to a machine remote control console thatenables machine speed control with a proportional travel controljoystick.

BACKGROUND

Some earth moving machines, for example dozers, motor graders, wheelloaders, and snow plows, have a front-mounted work tool such as a blade,bucket, or plow for pushing or carrying material. These work tools canbe tilted about a first horizontal axis that is generally perpendicularto the work tool (i.e., aligned with a travel direction), pitched abouta second horizontal axis that is generally parallel to the work tool,and lifted relative to a ground surface. Tilting can be accomplished byextending a hydraulic cylinder located at a first side of the work tool,while simultaneously retracting a hydraulic cylinder located at anopposing side of the work tool. Pitching can be accomplished byextending or retracting both hydraulic cylinders in the same directionat the same time. Lifting of the work tool can be accomplished throughextension of a separate lift cylinder. Existing hydraulic systemsutilize different combinations of input devices to regulate the tilting,pitching, and lifting operations. Primary operator inputs for mobilevehicle motion include transmission direction (forward, neutral, orreverse), transmission speed setting, steering direction and magnitude,engine speed, and application of service brakes. Because there aremultiple inputs to be controlled, these inputs generally require anoperator of the machine to use both hands and both feet. In someexisting dozers the transmission direction, transmission speed setting,and steering direction and magnitude are combined into a left-handjoystick. With a high idle machine such as a dozer, a right food pedalis often used to decelerate the engine speed from high idle toward afully decelerated engine speed when slowing down the travel speed of themachine. A left foot pedal is often used in conjunction with the rightfoot pedal, with the left foot pedal controlling the service brakes forthe machine.

When a machine is being remotely controlled, such as by a portableconsole which is hand-held or supported by a body harness, or at aremote operator station, in some implementations there may be twojoysticks, with the left joystick being used for control of transmissionspeed settings and steering, and the right joystick being used forcontrol of a blade or other work tool. With a remote control console theoperator must control all functions of the machine with two hands and nofoot pedals. The left joystick may have two or more control axes, with aleft-right axis being used for steering direction and magnitude, and afront-back axis being used to set transmission direction. The joystickmay also have a vertical axis about which it can be rotated, withrotation of the joystick about the vertical axis resulting in changes tothe transmission speed settings. Conventional remote control consolesmay include fingertip-controlled paddles that are used by the operatorin place of a decelerator foot pedal and a service brake foot pedal. Anexemplary remote control system for a work machine is disclosed in U.S.Pat. No. 8,428,791 to Carlsson, issued on Apr. 23, 2013 (the '791patent). Specifically, the '791 patent discloses a remote control systemfor a machine, with the system including at least one control stick orjoystick and a number of buttons, levers, and/or knobs for operating thedifferent travel and working functions of the machine.

Although the remote control system of the '791 patent includes joysticksand other input devices having different functions in different modes,the '791 does not disclose a control system that enables proportionaltravel control of a machine by movement of a joystick without the use offoot pedals, wherein movement of the joystick results in continuouslyprogressive control of engine speed and automatic braking mapped to adesired travel speed for the machine.

The remote control console or operator's station of the presentdisclosure addresses one or more of the needs set forth above and/orother problems of the prior art.

SUMMARY

In one aspect, the present disclosure is directed to a remote controlconsole including a plurality of input devices configured forcontrolling a machine having a work tool. The remote control console mayinclude a proportional travel control joystick configured to performcontinuous changes in machine travel speed through movement of thejoystick away from a central-biased position, a sensor configured togenerate progressively changing signals indicative of progressivelychanging positions of the joystick as the joystick is moved away fromthe central-biased position, and an electronic controllercommunicatively coupled to the sensor and the joystick. The electroniccontroller may be programmed to receive the signals from the sensor,determine the progressively changing positions of the joystick from thesensor signals, and perform a closed loop control. The closed loopcontrol may include mapping the progressively changing positions of thejoystick to corresponding desired machine travel speeds, determiningsimultaneous combinations of the speeds of an engine used to propel themachine and the amounts of service braking used to slow the machinewherein the simultaneous combinations result in the desired machinetravel speeds, generating control command signals to adjust the speed ofthe engine used to propel the machine and adjust an amount of servicebraking in accordance with the determined simultaneous combinations,determining a resulting machine travel speed and comparing the resultingmachine travel speed to the desired machine travel speed, and furtheradjusting the speed of the engine used to propel the machine and theamount of service braking to reduce any difference between the resultingmachine travel speed and the desired machine travel speed below apredetermined threshold level.

In another aspect, the present disclosure is directed to a remoteoperator station used for remotely controlling a machine. The operatorstation may include an operator's seat, one or more display screensmounted in front of the operator's seat and configured to display a viewindicative of a view from the perspective of an operator's cabin on themachine, a proportional travel control joystick configured to performcontinuous changes in machine travel speed through movement of thejoystick away from a central-biased position, a sensor configured togenerate progressively changing signals indicative of progressivelychanging positions of the joystick as the joystick is moved away fromthe central-biased position, and an electronic controllercommunicatively coupled to the sensor and the joystick. The electroniccontroller may be programmed to receive the signals from the sensor,determine the progressively changing positions of the joystick from thesensor signals, and perform a closed loop control. The closed loopcontrol may include mapping the progressively changing positions of thejoystick to corresponding desired machine travel speeds, determiningsimultaneous combinations of the speeds of an engine used to propel themachine and the amounts of service braking used to slow the machinewherein the simultaneous combinations result in the desired machinetravel speeds, generating control command signals to adjust the speed ofthe engine used to propel the machine and adjust an amount of servicebraking in accordance with the determined simultaneous combinations,determining a resulting machine travel speed and comparing the resultingmachine travel speed to the desired machine travel speed, and furtheradjusting the speed of the engine used to propel the machine and theamount of service braking to reduce any difference between the resultingmachine travel speed and the desired machine travel speed below apredetermined threshold level.

In yet another aspect, the present disclosure is directed to a method ofremotely controlling a work machine using one of a remote controlconsole or operator's station, wherein the one of a remote controlconsole or operator's station includes a proportional travel controljoystick configured to perform continuous changes in machine travelspeed through movement of the joystick away from a central-biasedposition, a sensor configured to generate progressively changing signalsindicative of progressively changing positions of the joystick as thejoystick is moved away from the central-biased position, and anelectronic controller communicatively coupled to the sensor and thejoystick. The method may include receiving the signals from the sensorby the electronic controller, determining, using the electroniccontroller, the progressively changing positions of the joystick fromthe sensor signals, and performing a closed loop control, using theelectronic controller. The closed loop control may include mapping theprogressively changing positions of the joystick to correspondingdesired machine travel speeds, and determining simultaneous combinationsof the speeds of an engine used to propel the machine and the amounts ofservice braking used to slow the machine, wherein the simultaneouscombinations result in the desired machine travel speeds. The closedloop control performed by the electronic controller may further includegenerating control command signals to adjust the speed of the engineused to propel the machine and adjust an amount of service braking inaccordance with the determined simultaneous combinations of engine speedand amount of service braking. As the machine travel speed is changed,the electronic controller may determine resulting machine travel speedsfrom inputs such as transmission output speeds and/or location signalsfrom GPS, etc., and compare the resulting machine travel speeds to thedesired and/or expected machine travel speeds associated with eachposition of the joystick. The electronic controller may then commandfurther adjustments to the speed of the engine used to propel themachine and the amount of service braking to reduce any differencebetween the resulting machine travel speed and the desired or expectedmachine travel speed below a predetermined threshold level.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a top plan view of an exemplary disclosed remote controlconsole;

FIG. 2 is a perspective view of the exemplary remote control console ofFIG. 1; and

FIG. 3 is a pictorial illustration of a remote operator's stationincluding a remote control console.

DETAILED DESCRIPTION

FIGS. 1 and 2 illustrate an exemplary remote control console includingat least one joystick used in controlling various operational functionsof a machine having multiple systems and components that cooperate toaccomplish a task. The machine controlled by the remote control consolemay embody a mobile machine that performs some type of operationassociated with an industry such as mining, construction, farming,transportation, or another industry known in the art. For example, anexemplary machine may be a material moving machine such as a dozer, amotor grader, a wheel loader, a snow plow, or similar machine. Themachine may include an implement system configured to move a work tool,a drive system for propelling the machine, a power source that providespower to the implement system and drive system, and an operator stationthat provides for control of the implement system, drive system, and/orpower system.

The implement system may include a linkage structure acted on by fluidactuators to move a work tool. Specifically, the implement system mayinclude a push frame or other fixturing component or assembly that isconnected to a drive system and an edge or other portion of a work tool.In some implementations, one or more hydraulic cylinders (liftcylinders) may pivotally connect the push frame to a machine frame, andbe functional to raise and lower the work tool relative to a groundsurface. Additional hydraulic cylinders (referred to as yaw cylinders)may pivotally connect the push frame to opposing side edges of the worktool, and be functional to yaw the work tool about a vertical axis.Still further linkage members and hydraulic cylinders or other actuatorsmay connect the push frame to other portions of a work tool, and befunctional to roll the work tool about a horizontal axis. In the case ofa motor grader, a joystick may include push buttons for incremental upand down shifting, or a roller for continuously variable up and downshifting. The joystick may also include additional push buttons forcontrolling the amount of wheel lean, still further buttons located, forexample, on a side of the joystick for providing grade control andpossibly control of a snow wing, a toggle switch or rocker switch thatcan be activated in multiple different directions to control variousfunctions, and the ability to rotate the entire joystick about avertical axis through the joystick for controlling articulation of themotor grader front and rear portions, and for controlling rotationalmovement of a circle board supporting a main blade. The joystick mayalso be configured such that movement of the joystick in frontward andrearward directions may control lifting and lowering of the main bladeassociated with the joystick. An arm may extend vertically upward awayfrom the center of a push frame toward an upper edge of a work tool, anda hydraulic cylinder (pitch cylinder) may pivotally connect a distal tipof the arm to the upper edge. A pitch cylinder may be functional topitch a work tool about a horizontal axis that is generallyperpendicular to a travel direction of the machine. An additionalhydraulic cylinder (roll cylinder) may extend from a tip end of the armto a point on the work tool located between the arm and a side edge ofthe work tool. The roll cylinder may be functional to roll the work toolabout a horizontal axis. The horizontal axis about which the rollcylinder functions may be generally aligned with the travel direction ofthe machine.

Numerous different work tools may be attachable to a single machine andoperator controllable. A work tool may include any device used toperform a particular task such as, for example, a blade, a bucket, aplow, or another task-performing device known in the art. A work toolcould additionally be driven to slide, swing, open and close, or move inanother manner known in the art.

A drive system of the machine may include undercarriage assemblies androtating endless tracks or other ground engagement members. Eachundercarriage assembly may also include a base member that may supportthe ends of a push frame engaged with a work tool. It is contemplatedthat the drive system could alternatively include traction devices otherthan tracks, if desired, such as wheels, belts, or other known tractiondevices.

A power source for the machine may embody an engine such as, forexample, a diesel engine, a gasoline engine, a gaseous fuel-poweredengine, or any other type of combustion engine known in the art. It iscontemplated that the power source may alternatively embody anon-combustion source of power such as a fuel cell, a power storagedevice, or another known source. The power source may produce amechanical or electrical power output that is used to propel the machinevia the drive system and that can be converted to hydraulic power formoving hydraulic cylinders used to operate various components and worktools of the machine.

An operator station may include devices that receive input from amachine operator indicative of desired machine maneuvering. In a casewhere an operator controls the machine remotely, the input devices maybe included on a remote control console such as remote control console12 illustrated in FIGS. 1 and 2, or the operator's station may includean operator's chair with a joystick on each arm of the operator's chair.Remote control console 12 may be a portable console, which is hand-heldor supported by a body harness, or located in a stationary position at aremote operator station such as the operator station shown in FIG. 3.Alternative embodiments of a remote operator's station may include ajoystick according to the present disclosure mounted directly on one ofthe arms of an operator's chair. In some implementations, remote controlconsole 12 may include two joysticks, with the left joystick being usedfor control of transmission speed settings and steering of the machine,and the right joystick being used for control of a blade or other worktool. With a remote control console such as remote control console 12,or at a remote operator's station for an operator who does not have theability to operate foot pedals, the operator must control all functionsof the machine with two hands and no foot pedals. The left joystick mayhave two or more control axes, with a left-right axis being used forsteering direction and magnitude, and a front-back axis being used toset transmission direction and machine travel speed. The joystick mayalso have a vertical axis about which it can be rotated, with rotationof the joystick about the vertical axis resulting in changes to thetransmission speed settings.

Remote control console 12 may include one or more input devices andindicators such as left-hand and right-hand joysticks 14, 16, a toggleswitch or roller 20 located on joystick 14 for controlling max groundspeed down and up, indicator lights 22, 24, 26, 28 indicative of aspectssuch as software stop, fault indication, implement lock indication, andpark brake indication, work tool controls 32, 34, configured forcontrolling work tool functions such as blade angle/pitch/lift/tilt,lights and horn 36, 38, and additional indicators and switches 42, 44,46, 48, 52, 54, 56, 58, 62, 64, 66, 68 performing additional functionssuch as controlling engine throttle, ignition switch, work lights, firesuppression, etc. The various input devices on remote control console 12such as joysticks 14, 16 may be manipulated by an operator to initiatemovement of the machine by producing proportional displacement signalsthat are indicative of desired maneuvering. In the disclosed embodiment,left-hand joystick 14 may be a joystick associated with control oftransmission direction and travel speed as well as steering of themachine, while right-hand joystick 16 may be a joystick associated withcontrol of lifting, pitching, rolling, and yawing movements of a worktool. It is contemplated that input devices other than a joystick suchas, for example, a paddle, a lever, a rocker switch, and other devicesknown in the art, may additionally be provided on remote control console12 for movement control of machine 10, if desired.

Remote control console 12 of FIGS. 1 and 2 may include a plurality ofinput devices configured for controlling a machine having a work tool.In the exemplary embodiment shown in FIGS. 1 and 2, remote controlconsole 12 may include a proportional travel control joystick 14configured to perform continuous changes in machine travel speed throughmovement of joystick 14 away from a central-biased position. In oneexemplary embodiment, remote control console 12 may also include asensor (not shown) associated with joystick 14, which may be configuredto generate progressively changing signals indicative of progressivelychanging positions of the joystick as the joystick is moved away fromthe central-biased position. An electronic controller included on remotecontrol console 12, or connected wirelessly or through a wired bus tothe console may be communicatively coupled to the sensor and joystick14.

The electronic controller may include a memory, a secondary storagedevice, a clock, and one or more processors that cooperate to accomplisha task consistent with the present disclosure. Numerous commerciallyavailable microprocessors can be configured to perform the functions ofthe electronic controller. It should be appreciated that the electroniccontroller could readily embody a general machine controller capable ofcontrolling numerous other functions of the machine. Various knowncircuits may be associated with the electronic controller, includingsignal-conditioning circuitry, communication circuitry, and otherappropriate circuitry. It should also be appreciated that the electroniccontroller may include one or more of an application-specific integratedcircuit (ASIC), a field-programmable gate array (FPGA), a computersystem, and a logic circuit configured to allow the controller tofunction in accordance with the present disclosure.

The electronic controller may be programmed to receive the signalsindicative of the progressively changing positions of joystick 14 fromthe associated position sensor, and determine the progressively changingpositions of the joystick from the sensor signals. The electroniccontroller may be further programmed to perform a closed loop control,wherein the closed loop control includes mapping the progressivelychanging positions of the joystick to corresponding desired or expectedmachine travel speeds, and then determining simultaneous combinations ofthe speeds of an engine used to propel the machine and the amounts ofservice braking used to slow the machine, wherein the simultaneouscombinations result in the desired machine travel speeds. The functionsof controlling the speeds of the engine in order to allow the engine toidle at high speed or to slow down the engine speed would traditionallyrequire operation of one foot pedal on the machine, and application ofservice brakes would traditionally require operation of a second footpedal on the machine. In the disclosed embodiments of this disclosure,movement of joystick 14 on remote control console 12 away from acentral-biased position in either a forward direction or a rearwarddirection may result in progressive, simultaneous changes to enginespeed and amount of service braking, eliminating any requirement forfoot pedals or other finger-operated paddles for controlling enginespeed and service braking on the remote control console. In someexemplary implementations, the map relating amounts of movement ofjoystick 14 to expected machine travel speeds and/or associatedphysics-based equations defining relationships between combinations ofengine speed and service braking with machine travel speed may be basedon empirical or historical data for the particular machine or type ofmachine operating under similar conditions.

As joystick 14 is moved in a forward direction away from acentral-biased position, the electronic controller may be programmed tointerpret the progressively changing positions of the joystick from thesensor data and generate control command signals to progressively adjustthe speed of the engine used to propel the machine and an amount ofservice braking used to slow the machine in accordance with thedetermined simultaneous combinations of engine speed and servicebraking. For example, movement of joystick 14 in a forward directionaway from its central-biased position may result in shifting of thetransmission into a forward gear while gradually increasing the speed ofthe engine and simultaneously reducing the amount of service braking,resulting in an increase of the travel speed of the machine in a forwarddirection. Movement of joystick 14 in a rearward direction away from itscentral-biased position may result in shifting of the transmission intoa rearward gear while gradually increasing the speed of the engine andsimultaneously reducing the amount of service braking, resulting in anincrease of the travel speed of the machine in a rearward direction.

The electronic controller may be programmed to perform the closed loopcontrol by determining a resulting machine travel speed as joystick 14is progressively moved in either the forward or rearward directions, andcomparing the resulting machine travel speed to the expected machinetravel speed associated with the position of joystick 14, and furtheradjusting the speed of the engine used to propel the machine and theamount of service braking to reduce any difference between the resultingmachine travel speed and the desired and expected machine travel speedbelow a predetermined threshold level. Remote control console 12 mayinclude joystick 14 further configured such that an increase in theamount of movement of the joystick in a first direction away from thecentral-biased position results in an increase in the machine travelspeed in the first direction and an increase in the amount of movementof the joystick in a second direction opposite from the first directionand away from the central-biased position results in an increase in themachine travel speed in the second direction. Joystick 14 may beconfigured to be moved in forward and rearward directions from thecentral-biased position in order to generate signals indicative ofoperator commanded changes in the travel speed of the machine in forwardand rearward directions, respectively. Additionally, joystick 14 may bestill further configured to be moved in left and right directions fromthe central-biased position in order to generate signals indicative ofoperator commanded changes in the travel direction of the machine and inthe travel speed of the machine.

Remote control console 12 may include joystick 14 configured such thatin the central-biased position the joystick generates signals indicativeof a state in which the speed of the engine used to propel the machineis fully decelerated and the service brakes used to slow travel speed ofthe machine are fully applied. Remote control console 12 may furtherinclude a second joystick 16 configured to generate signals indicativeof an operator command to change positions of a work tool. In theexemplary embodiment of FIGS. 1 and 2, remote control console 12includes left-hand joystick 14 configured as the above-describedproportional travel control joystick, while right-hand joystick 16 isconfigured as a machine tool control joystick. In various alternativeembodiments, other arrangements and functions may be included dependingon the particular type of machine being controlled by remote controlconsole 12.

FIG. 3 illustrates a remote operator station used for remotelycontrolling a machine, the operator station may include an operator'sseat 90, with a remote control console 12, such as shown in FIGS. 1 and2, supported in front of the operator sitting in operator's seat 90, andone or more screens 82 positioned in the view of the operator. The oneor more display screens 82 mounted in front of operator's seat 90 may beconfigured to display a view indicative of a view from the perspectiveof an operator's cabin on the machine. Alternative embodiments of theremote operator's station may include a proportional travel controljoystick with all of the same functions and capabilities discussed abovefor joystick 14, except with the joystick mounted on one of the arms ofthe operator's seat 90 rather than on a remote control consolepositioned in front of the operator.

INDUSTRIAL APPLICABILITY

The disclosed remote control console may be used to remotely controloperation of any machine having a work tool that is capable of movementin multiple directions. The disclosed remote control console may beparticularly useful when applied to a motor grader or a dozer having ablade where independent control over lifting, pitching, rolling, andyawing is beneficial. Independent control over blade lifting, pitching,rolling, and yawing may be possible through separate regulation ofindependent hydraulic cylinders under the direction of a machineoperator. The disclosed remote control console also provides a compactand lightweight unit that can be carried by a machine operator, withhandles 72 providing a convenient means for holding the remote controlconsole when not actually operating joysticks 14 and 16 along with otherinput devices contained on remote control console 12. A shoulder harnessor other device may be used to support remote control console in ahands-free position convenient for the operator to be able to manipulatejoysticks 14 and 16, and other input devices contained on the console.

Remote control console 12 includes proportional travel control joystick14 configured to perform continuous changes in machine travel speedthrough movement of the joystick away from a central-biased position, asensor configured to generate progressively changing signals indicativeof progressively changing positions of the joystick as the joystick ismoved away from the central-biased position, and an electroniccontroller communicatively coupled to the sensor and the joystick. Inone exemplary implementation of a method for using remote controlconsole 12, the method may include receiving the signals from the sensorby the electronic controller, determining, using the electroniccontroller, the progressively changing positions of the joystick fromthe sensor signals, and performing a closed loop control, using theelectronic controller. As discussed above, alternative embodiments of aremote operator's station may include a proportional travel controljoystick with all of the same functions and capabilities as joystick 14,with the joystick being mounted directly on one of the arms of theoperator's chair 90.

The closed loop control performed by the electronic controller mayinclude mapping the progressively changing positions of the joystick tocorresponding desired machine travel speeds, and determiningsimultaneous combinations of the speeds of an engine used to propel themachine and the amounts of service braking used to slow the machine,wherein the simultaneous combinations result in the desired machinetravel speeds. The closed loop control performed by the electroniccontroller may further include generating control command signals toadjust the speed of the engine used to propel the machine and adjust anamount of service braking in accordance with the determined simultaneouscombinations of engine speed and amount of service braking.

As the machine travel speed is changed, the electronic controller maydetermine resulting machine travel speeds from inputs such astransmission output speeds and/or location signals from GPS, etc., andcompare the resulting machine travel speeds to the desired and/orexpected machine travel speeds associated with each position of thejoystick. The electronic controller may then command further adjustmentsto the speed of the engine used to propel the machine and the amount ofservice braking to reduce any difference between the resulting machinetravel speed and the desired or expected machine travel speed below apredetermined threshold level.

It will be apparent to those skilled in the art that variousmodifications and variations can be made to the remote control consoleof the present disclosure or to the proportional travel control joystickof the present disclosure without departing from the scope of thedisclosure. Other embodiments will be apparent to those skilled in theart from consideration of the specification and practice of thedisclosed apparatus and methods. It is intended that the specificationand examples be considered as exemplary only, with a true scope of thedisclosure being indicated by the following claims and their equivalent.

What is claimed is:
 1. A remote control console including a plurality ofinput devices configured for controlling a machine having a work tool,the remote control console comprising: a proportional travel controljoystick configured to perform continuous changes in machine travelspeed through movement of the joystick away from a central-biasedposition; a sensor configured to generate progressively changing signalsindicative of progressively changing positions of the joystick as thejoystick is moved away from the central-biased position; and anelectronic controller communicatively coupled to the sensor and thejoystick, the electronic controller being programmed to: receive thesignals from the sensor; determine the progressively changing positionsof the joystick from the sensor signals; and perform a closed loopcontrol, comprising: mapping the progressively changing positions of thejoystick to corresponding desired machine travel speeds; determiningsimultaneous combinations of the speeds of an engine used to propel themachine and the amounts of service braking used to slow the machinewherein the simultaneous combinations result in the desired machinetravel speeds; generating control command signals to adjust the speed ofthe engine used to propel the machine and adjust an amount of servicebraking in accordance with the determined simultaneous combinations;determining a resulting machine travel speed and comparing the resultingmachine travel speed to the desired machine travel speed; and furtheradjusting the speed of the engine used to propel the machine and theamount of service braking to reduce any difference between the resultingmachine travel speed and the desired machine travel speed below apredetermined threshold level.
 2. The remote control console of claim 1,wherein the joystick is further configured such that an increase in theamount of movement of the joystick in a first direction away from thecentral-biased position results in an increase in the machine travelspeed in the first direction and an increase in the amount of movementof the joystick in a second direction opposite from the first directionand away from the central-biased position results in an increase in themachine travel speed in the second direction.
 3. The remote controlconsole of claim 2, wherein the joystick is further configured to bemoved in forward and rearward directions from the central-biasedposition in order to generate signals indicative of operator commandedchanges in the travel speed of the machine in forward and rearwarddirections, respectively.
 4. The remote control console of claim 3,wherein the joystick is further configured to be moved in left and rightdirections from the central-biased position in order to generate signalsindicative of operator commanded changes in the travel direction of themachine and in the travel speed of the machine.
 5. The remote controlconsole of claim 4, wherein: the joystick is further configured suchthat movement of the joystick in the forward direction from thecentral-biased position results in a progressive increase in the travelspeed of the machine in a forward direction caused by a progressiveincrease in the speed of the engine used to propel the machineaccompanied by a progressive decrease in the amount of service brakingapplied to reduce the speed of the machine.
 6. The remote controlconsole of claim 4, wherein: the joystick is further configured suchthat movement of the joystick in the rearward direction from thecentral-biased position results in a progressive increase in the travelspeed of the machine in a rearward direction caused by a progressiveincrease in the speed of the engine used to propel the machineaccompanied by a progressive decrease in the amount of service brakingapplied to reduce the speed of the machine.
 7. The remote controlconsole of claim 4, wherein: the joystick is further configured suchthat in the central-biased position the joystick generates signalsindicative of a state in which the speed of the engine used to propelthe machine is fully decelerated and the service brakes used to slowtravel speed of the machine are fully applied.
 8. The remote controlconsole of claim 1, further including a second joystick configured togenerate signals indicative of an operator command to change positionsof a work tool.
 9. The remote control console of claim 8, wherein theproportional travel control joystick is a left-hand joystick and thesecond joystick is a right-hand joystick.
 10. A remote operator stationused for remotely controlling a machine, the operator stationcomprising: an operator's seat; one or more display screens mounted infront of the operator's seat and configured to display a view indicativeof a view from the perspective of an operator's cabin on the machine; aproportional travel control joystick configured to perform continuouschanges in machine travel speed through movement of the joystick awayfrom a central-biased position; a sensor configured to generateprogressively changing signals indicative of progressively changingpositions of the joystick as the joystick is moved away from thecentral-biased position; and an electronic controller communicativelycoupled to the sensor and the joystick, the electronic controller beingprogrammed to: receive the signals from the sensor; determine theprogressively changing positions of the joystick from the sensorsignals; and perform a closed loop control, comprising: mapping theprogressively changing positions of the joystick to correspondingdesired machine travel speeds; determining simultaneous combinations ofthe speeds of an engine used to propel the machine and the amounts ofservice braking used to slow the machine wherein the simultaneouscombinations result in the desired machine travel speeds; generatingcontrol command signals to adjust the speed of the engine used to propelthe machine and adjust an amount of service braking in accordance withthe determined simultaneous combinations; determining a resultingmachine travel speed and comparing the resulting machine travel speed tothe desired machine travel speed; and further adjusting the speed of theengine used to propel the machine and the amount of service braking toreduce any difference between the resulting machine travel speed and thedesired machine travel speed below a predetermined threshold level. 11.The remote operator station of claim 10, wherein the joystick is furtherconfigured such that an increase in the amount of movement of thejoystick in a first direction away from the central-biased positionresults in an increase in the machine travel speed in a forwarddirection and an increase in the amount of movement of the joystick in asecond direction opposite from the first direction and away from thecentral-biased position results in an increase in the machine travelspeed in a reverse direction.
 12. The remote operator station of claim11, wherein the joystick is mounted on a remote control consolepositioned in front of the operator's seat and is further configured tobe moved in forward and rearward directions from the central-biasedposition in order to generate signals indicative of operator commandedchanges in the travel speed of the machine in forward and rearwarddirections, respectively.
 13. The remote operator station of claim 11,wherein the joystick is further configured to be moved in left and rightdirections from the central-biased position in order to generate signalsindicative of operator commanded changes in the travel direction of themachine and in the travel speed of the machine.
 14. The remote operatorstation of claim 13, wherein the joystick is further configured suchthat movement of the joystick in the forward direction from thecentral-biased position results in a progressive increase in the travelspeed of the machine in a forward direction caused by a progressiveincrease in the speed of the engine used to propel the machineaccompanied by a progressive decrease in the amount of service brakingapplied to reduce the speed of the machine.
 15. The remote operatorstation of claim 13, wherein the joystick is further configured suchthat movement of the joystick in the rearward direction from thecentral-biased position results in a progressive increase in the travelspeed of the machine in a rearward direction caused by a progressiveincrease in the speed of the engine used to propel the machineaccompanied by a progressive decrease in the amount of service brakingapplied to reduce the speed of the machine.
 16. The remote operatorstation of claim 13, wherein the joystick is further configured suchthat in the central-biased position the joystick generates signalsindicative of a state in which the speed of the engine used to propelthe machine is fully decelerated and the service brakes used to slowtravel speed of the machine are fully applied.
 17. The remote operatorstation of claim 10, further including a second joystick configured togenerate signals indicative of an operator command to change positionsof a work tool.
 18. A method of remotely controlling a work machineusing one of a remote control console or a remote operator's station,wherein the one of a remote control console or a remote operator'sstation comprises: a proportional travel control joystick configured toperform continuous changes in machine travel speed through movement ofthe joystick away from a central-biased position; a sensor configured togenerate progressively changing signals indicative of progressivelychanging positions of the joystick as the joystick is moved away fromthe central-biased position; and an electronic controllercommunicatively coupled to the sensor and the joystick, the methodcomprising: receiving the signals from the sensor by the electroniccontroller; determining, using the electronic controller, theprogressively changing positions of the joystick from the sensorsignals; and performing a closed loop control, using the electroniccontroller, the closed loop control comprising: mapping theprogressively changing positions of the joystick to correspondingdesired machine travel speeds; determining simultaneous combinations ofthe speeds of an engine used to propel the machine and the amounts ofservice braking used to slow the machine wherein the simultaneouscombinations result in the desired machine travel speeds; generatingcontrol command signals to adjust the speed of the engine used to propelthe machine and adjust an amount of service braking in accordance withthe determined simultaneous combinations; determining a resultingmachine travel speed and comparing the resulting machine travel speed tothe desired machine travel speed; and further adjusting the speed of theengine used to propel the machine and the amount of service braking toreduce any difference between the resulting machine travel speed and thedesired machine travel speed below a predetermined threshold level. 19.The method of claim 18, wherein an increase in the amount of movement ofthe joystick in a first direction away from the central-biased positionresults in an increase in the machine travel speed in a forwarddirection and an increase in the amount of movement of the joystick in asecond direction opposite from the first direction and away from thecentral-biased position results in an increase in the machine travelspeed in a reverse direction.
 20. The method of claim 19, wherein: thejoystick is moved in forward and rearward directions from thecentral-biased position in order to generate signals indicative ofoperator commanded changes in the travel speed of the machine in forwardand rearward directions, respectively; and the joystick is moved in leftand right directions from the central-biased position in order togenerate signals indicative of operator commanded changes in the traveldirection of the machine and in the travel speed of the machine.